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java.lang.Objectsugr.Element
sugr.Transformation
sugr.Homography_3D
sugr.Affinity_3D
sugr.ScaledMotion_3D
This matrix contains Translation(3) and Rotation(3) and one Scalefactor for all three axis in 3D
Field Summary | |
private static long |
serialVersionUID
Class version number for serialization |
Fields inherited from class sugr.Homography_3D |
DIM |
Fields inherited from class sugr.Element |
cov, MAXITER, v |
Constructor Summary | |
ScaledMotion_3D()
standard constructor. |
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ScaledMotion_3D(Translation_3D trans,
Rotation_3D rot,
double scale)
creates a motion by a given Translation_3D and a Rotation_3D and a scale factor. |
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ScaledMotion_3D(Translation_3D trans,
Rotation_3D rot,
double scale,
Matrix cov)
creates a motion with covariance by a given Translation_3D and a Rotation_3D and a scale factor. |
Method Summary | |
void |
approximate(RelationalProperty[] rprops)
Compute an approximation of an entity. |
protected Vector |
getConstraintValue()
Get the value of the constraint (h(beta) or g(y)) if this entity is an unknown or an observation. |
int |
getDegreesOfFreedom()
Returns the number of elements to specify this transformation |
Matrix |
getJacobianOfConstraint()
Get the Jacobian of the constraint (H, G) if this entity is an unkown or an observation. |
private static Matrix |
leaveOutProjectivePartsOfJacobian(Matrix A)
Leave out those columns of the Jacobian of a ScaledMotion estimation which correspond to the 3 projective values (the last row of the transformation matrix) |
Methods inherited from class sugr.Homography_3D |
doCondition, getDimCol, getDimRow, getJacobianAfterFirst, getJacobianAfterSecond, getLineMatrix, getPlaneMatrix, getPointMatrix, transform |
Methods inherited from class sugr.Transformation |
errorProp, getDimension, getJacobianOfRelation, getReducedAB, getTransformationMatrix, getTransposeTransMatrix, transform |
Methods inherited from class sugr.Element |
calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, ensureConstraints, estimate, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getCov, getV, normalizeSphere, normalizeSphereComparable, print, print, reduceFirstMatrix, reduceMatrix, reduceMatrix, setCov, setV, toString |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
private static final long serialVersionUID
Constructor Detail |
public ScaledMotion_3D()
public ScaledMotion_3D(Translation_3D trans, Rotation_3D rot, double scale)
trans
- contains the Translation-matrixrot
- contains the rotation-matrixscale
- contains scale factorpublic ScaledMotion_3D(Translation_3D trans, Rotation_3D rot, double scale, Matrix cov)
trans
- contains the Translation-matrixrot
- contains the rotation-matrixscale
- contains scale factorcov
- 16x16 matrixMethod Detail |
public int getDegreesOfFreedom()
getDegreesOfFreedom
in class Affinity_3D
public void approximate(RelationalProperty[] rprops)
approximate
in class Element
rprops
- a set of relational Properties which should be fullfilled.private static Matrix leaveOutProjectivePartsOfJacobian(Matrix A)
A
- a nx16 Jacobian matrix
protected Vector getConstraintValue()
getConstraintValue
in class Element
public Matrix getJacobianOfConstraint()
getJacobianOfConstraint
in class Element
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